EP4631460A3 - SYSTEM AND METHOD FOR MONITORING CONTROL POINTS DURING REACTIVE MOTION - Google Patents

SYSTEM AND METHOD FOR MONITORING CONTROL POINTS DURING REACTIVE MOTION

Info

Publication number
EP4631460A3
EP4631460A3 EP25198848.1A EP25198848A EP4631460A3 EP 4631460 A3 EP4631460 A3 EP 4631460A3 EP 25198848 A EP25198848 A EP 25198848A EP 4631460 A3 EP4631460 A3 EP 4631460A3
Authority
EP
European Patent Office
Prior art keywords
control points
points during
spatial configuration
monitoring control
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP25198848.1A
Other languages
German (de)
French (fr)
Other versions
EP4631460A2 (en
Inventor
Paul G. GRIFFITHS
Brandon D. Itkowitz
Goran LYNCH
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of EP4631460A2 publication Critical patent/EP4631460A2/en
Publication of EP4631460A3 publication Critical patent/EP4631460A3/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/02—Adjustable operating tables; Controls therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00898—Alarms or notifications created in response to an abnormal condition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Manipulator (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

A system and method of monitoring control points during reactive motion includes a computer-assisted medical device. The computer-assisted medical device includes one or more articulated arms each having a control point and a control unit coupled to the one or more articulated arms. The one or more articulated arms and corresponding control points are configured to track movement of a surgical table. The control unit monitors a spatial configuration of the one or more control points by determining an expected spatial configuration of the one or more control points during the movement of the surgical table, determining an actual spatial configuration of the one or more control points during the movement of the surgical table, and determining a difference between the expected spatial configuration and the actual spatial configuration.
EP25198848.1A 2014-10-27 2015-10-27 SYSTEM AND METHOD FOR MONITORING CONTROL POINTS DURING REACTIVE MOTION Pending EP4631460A3 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201462069245P 2014-10-27 2014-10-27
US201562134252P 2015-03-17 2015-03-17
EP15854136.7A EP3212105B1 (en) 2014-10-27 2015-10-27 System for monitoring control points during reactive motion
PCT/US2015/057670 WO2016069660A1 (en) 2014-10-27 2015-10-27 System and method for monitoring control points during reactive motion

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP15854136.7A Division EP3212105B1 (en) 2014-10-27 2015-10-27 System for monitoring control points during reactive motion

Publications (2)

Publication Number Publication Date
EP4631460A2 EP4631460A2 (en) 2025-10-15
EP4631460A3 true EP4631460A3 (en) 2025-12-31

Family

ID=55858278

Family Applications (2)

Application Number Title Priority Date Filing Date
EP15854136.7A Active EP3212105B1 (en) 2014-10-27 2015-10-27 System for monitoring control points during reactive motion
EP25198848.1A Pending EP4631460A3 (en) 2014-10-27 2015-10-27 SYSTEM AND METHOD FOR MONITORING CONTROL POINTS DURING REACTIVE MOTION

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP15854136.7A Active EP3212105B1 (en) 2014-10-27 2015-10-27 System for monitoring control points during reactive motion

Country Status (6)

Country Link
US (6) US10682190B2 (en)
EP (2) EP3212105B1 (en)
JP (3) JP6689256B2 (en)
KR (3) KR102479287B1 (en)
CN (2) CN111839731B (en)
WO (1) WO2016069660A1 (en)

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